# Pure localization demo in 2D: We use 2 different 2D bags from the Deutsche# Museum. The first one is used to generate the map, the second to run# pure localization.
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-04-05-14-44-52.bag
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-04-27-12-31-41.bag
# Generate the map: Run the next command, wait until cartographer_offline_node finishes.
roslaunch cartographer_ros offline_backpack_2d.launch bag_filenames:=${HOME}/Downloads/b2-2016-04-05-14-44-52.bag
# Run pure localization:
roslaunch cartographer_ros demo_backpack_2d_localization.launch \
load_state_filename:=${HOME}/Downloads/b2-2016-04-05-14-44-52.bag.pbstream \
bag_filename:=${HOME}/Downloads/b2-2016-04-27-12-31-41.bag
# Pure localization demo in 3D: We use 2 different 3D bags from the Deutsche# Museum. The first one is used to generate the map, the second to run# pure localization.
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-13-54-42.bag
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-15-52-20.bag
# Generate the map: Run the next command, wait until cartographer_offline_node finishes.
roslaunch cartographer_ros offline_backpack_3d.launch bag_filenames:=${HOME}/Downloads/b3-2016-04-05-13-54-42.bag
# Run pure localization:
roslaunch cartographer_ros demo_backpack_3d_localization.launch \
load_state_filename:=${HOME}/Downloads/b3-2016-04-05-13-54-42.bag.pbstream \
bag_filename:=${HOME}/Downloads/b3-2016-04-05-15-52-20.bag